
#include "speed_conclude.hpp"

speed_conclude::speed_conclude(/* args */)
{
    w_config.wheel_base = 0.3015;
    w_config.wheel_dia = 0.1657;
    w_config.wheel_circle_pulse=5600;
    //w_config.wheel_speed_meter_rmp = 10.0*(w_config.wheel_dia *3.1415926)/60.0;
    // w_config.wheel_speed_meter_rmp* n米/秒= rmp*10
}

speed_conclude::~speed_conclude()
{
}

int16_t speed_conclude::conclude_rmp(float v)
{
    int16_t rmp;
    rmp=(v*600)/( w_config.wheel_dia*3.14159);
    return rmp;
}
int16_t speed_conclude::conclude_cha(float lun_cha)
{

}


